Cold planer material transport management system

ABSTRACT

A management system for a cold planer is disclosed. The management system may include one or more sensors located onboard the cold planer and configured to generate data regarding at least one of cold planer operating parameters and milled material transferred from the cold planer to a plurality of haul vehicles. The management system may also include a locating device configured to generate a signal indicative of a cold planer location, a communication device configured to transfer information from the cold planer to a plant, and a controller in electronic communication with the one or more, the locating device, and the communication device. The controller may be configured to determine a rate of material transfer from the cold planer to the plurality of haul vehicles based on the data, and transmit the rate of material transfer and the cold planer location to the plant via the communication device.

CLAIM OF PRIORITY

This application is a continuation of U.S. patent application Ser. No.14/827,443, filed on Aug. 17, 2015, which is incorporated herein byreference in its entirety.

TECHNICAL FIELD

The present disclosure relates generally to a management system and,more particularly, to a material transport management system for a coldplaner.

BACKGROUND

Asphalt-surfaced roadways are built to facilitate vehicular travel.Depending upon usage density, base conditions, temperature variation,moisture levels, and/or physical age, the surfaces of the roadwayseventually become misshapen and unable to support wheel loads. in orderto rehabilitate the roadways for continued vehicular use, spent asphaltis removed in preparation for resurfacing.

Cold planers, sometimes also called road mills or scarifiers, are usedto break up and remove layers of an asphalt roadway. A cold planertypically includes a frame propelled by tracked or wheeled drive units.The frame supports an engine, an operator's station, a milling drum, andconveyors. The milling drum, fitted with cutting tools, is rotatedthrough a suitable interface with the engine to break up the surface ofthe roadway. The broken up roadway material is deposited by the millingdrum onto the conveyors, which transfer the broken up material into haultrucks for removal from the worksite. As haul trucks are filled, theyare replaced with empty haul trucks. The filled trucks transport thebroken up material to a different location to be reused as aggregate innew asphalt or otherwise recycled. This transport process repeats untilthe milling process is finished.

Operators may wish to coordinate the timely arrival of empty haul trucksat the milling site with the pace of the milling process in order toimprove the overall efficiency of the operation. On one hand, having toofew empty trucks at the milling site can lead to increased down timewhen an operator must stop the cold planer to wait for an empty truck toarrive. On the other hand, too many empty trucks at the milling site canresult in the wasteful under-utilization of resources. Cold planeroperators typically communicate with a truck dispatcher at a materialprocessing plant in an attempt to coordinate the movement of trucks toand from the jobsite. However, calls to the dispatcher from jobsitepersonnel may not always provide the dispatcher with enough informationor enough time to efficiently coordinate movement of the trucks to andfrom the jobsite.

One attempt to monitor the production of a milling machine is disclosedin U.S. Patent Application Publication No. 2008/0216021 A1 of Bering etal. that published on Sep. 4, 2008 (“the '021 publication”). Inparticular, the '021 publication discloses a system for monitoring theoperating parameters of the milling machine, the loading of a haultruck, and the surfaces in front of and behind a milling rotor of themilling machine. The system includes a number of sensors configured tomeasure operating parameters, including ambient conditions, engineparameters, and the position of a number of actuators that areconfigured operate tools and implements of the milling machine. Thesystem also includes a number of cameras configured to observe theloading of milled material into a haul truck via a conveyor system, anunmilled surface in front of the milling rotor, and a milled surfacebehind the milling rotor. A processing unit transmits data from thesensors to a memory for data storage, as well as to a display in anoperator station of the milling machine. A number of switches associatedwith the display allow the operator to select which parameters andcamera feeds to observe on the display while operating the millingmachine. The processing unit can establish a remote data transmissionconnection in order to communicate data from the sensors and cameraswith a control center or another machine.

While the system of the '021 publication may allow for the observationof some milling parameters, it may not be optimum. In particular,information transmitted by the system of the '021 publication may belimited to data generated by the sensors and cameras. Further, thecameras may only allow for the observance of qualitative information,which may not be quickly and/or easily analyzed by onboard entities forother purposes.

The management system of the present disclosure solves one or more ofthe problems set forth above and/or other problems in the art.

SUMMARY

In one aspect, the present disclosure is related to a management systemfor a cold planer and a plurality of haul vehicles configured totransport milled material from the cold planer to a plant. Themanagement system may include one or more sensors located onboard thecold planer and configured to generate data regarding at least one ofcold planer operating parameters and milled material transferred fromthe cold planer to the plurality of haul vehicles. The management systemmay further include a locating device configured to generate a signalindicative of a cold planer location, a communication device configuredto transfer information from the cold planer to the plant, and acontroller in electronic communication with the one or more and thelocating device. The controller may be configured to determine a rate ofmaterial transfer from the cold planer to the plurality of haul vehiclesbased on the data, and transmit the rate of material transfer coldplaner location to the plant via the communication device.

In another aspect, the present disclosure is related to a method ofmanaging material transport from a cold planer to a plant. The methodmay include milling a work surface, transferring milled material fromthe work surface into a transport vehicle, generating data regarding atleast one of cold planer operating parameters and the milled materialtransferred from the cold planer to the haul vehicle, and determining arate of material transfer from the cold planer to the haul vehicle basedon the data. The method may further include determining a location ofthe cold planer, and transmitting the rate of material transfer and thelocation of the cold planer to a plant.

In yet another aspect, the present disclosure is directed to a coldplaner. The cold planer may include a frame, a milling drum connected tothe frame, a conveyor pivotally connected to the frame and configured toload milled material into a transport vehicle, and one or more sensorslocated onboard the cold planer and configured to generate dataregarding at least one of cold planer operating parameters and milledmaterial transferred from the cold planer to the plurality of haulvehicles. The cold planer may further include a locating deviceconfigured to generate a signal indicative of a cold planer location, acommunication device configured to transfer information from the coldplaner to a plant, and a controller in electronic communication with theone or more sensors and the locating device. The controller may beconfigured to determine a rate of material transfer from the cold planerto the plurality of haul vehicles based on the data, determine amaterial ID associated with the material transfer rate based on the coldplaner location, and transmit one or more of the rate of materialtransfer, the material ID, and the cold planer location to the plant viathe communication device.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a pictorial illustration of an exemplary disclosed worksiteand plant;

FIG. 2 is a cutaway view illustration of an exemplary disclosed coldplaner that may be used on the worksite of FIG. 1; and

FIG. 3 is a diagrammatic illustration of an exemplary disclosed materialtransport management system that may be used with the cold planer ofFIG. 2 and plant of FIG. 1.

DETAILED DESCRIPTION

For the purpose of this disclosure, the term “asphalt” is defined as amixture of aggregate and asphalt cement. Asphalt cement is abrownish-black solid or semi-solid mixture of bitumens obtained as abyproduct of petroleum distillation. The asphalt cement can be heatedand mixed with the aggregate for use in paving roadway surfaces, wherethe mixture hardens upon cooling. A “cold planer” is defined as amachine used to remove layers of hardened asphalt from an existingroadway. It is contemplated that the disclosed cold planer may also oralternatively be used to remove cement and other roadway surfaces, or toremove non-roadway surface material such as in a mining operation.

FIG. 1 shows a cold planer 10 employed at a worksite 12, such as, forexample, a roadway milling operation. As part of the milling operation,cold planer 10 may mill a surface 14 of the roadway and transfer milledmaterial into a first of a plurality of haul vehicles (“haul vehicle”)16. In some situations, a second haul vehicle 18 may be in a standbyposition near cold planer 10, and a third haul vehicle 19 may be locatedat or near plant 20, such as at an associated dispatch facility 21. Itis understood that any number of haul vehicles may be positioned nearcold planer 10 (e.g., in the standby position) and/or at plant 20 (e.g.,awaiting dispatch). it is also understood that the dispatch facility maybe located at plant 20 or at a different location. Plant 20 may be anylocation where milled material is delivered for storage, processing,recycling, disposal, etc. When full, haul vehicle 16 may depart fromcold planer 10 to deliver the milled material to plant 20, and haulvehicle 18 may approach cold planer 10 to replace haul vehicle 16 so themilling operation may continue. Haul vehicle 19 may be dispatched tocold planer 10 to replace transport vehicle 18 in the standby position.

Haul vehicles 16-19 may be mobile machines (e.g., dump trucks,articulated dump trucks, tractor-trailers, etc.) configured to transportmaterial from a first location to a second location. Haul vehicles 16-19may also be configured to communicate with plant 20 and/or cold planer10 during milling operations. For example, haul vehicles 16-19 mayinclude a communication device 22 configured to exchange informationwith plant 20 and/or cold planer 10, a locating device 24 configured togenerate a signal indicative of a haul vehicle location, and acontroller 26 in electronic communication with devices 22-24 (22-26shown only in FIG. 3). It is understood that haul vehicles 16-19 mayalso include input devices (buttons, keyboards, switches, knobs, levers,pedals, etc.) and output devices (e.g., displays, lights, speakers,etc.) for operating haul vehicles 16-19 and communicating with plant 20and/or cold planer 10, as desired.

Plant 20 may include one or more facilities configured to receive milledmaterial from haul vehicles 16-19. For example, plant 20 may include oneor more material storage sites at each facility for storing differenttypes of milled material (e.g., milled asphalt, milled concrete, etc.)delivered by haul vehicles 16-19. In some situations, plant 20 may alsoinclude one or more paving material production sites where milledmaterial may be reincorporated into fresh paving material mixtures(e.g., asphalt, concrete, etc.).

The dispatch facility 21 associated with plant 20 may house equipmentfor organizing the movement of haul vehicles 16-19 between cold planer10 and plant 20. For example, plant 20 may include a storage facilityfor a number of haul vehicles and include communication equipment forreceiving information from cold planer 10 and sending dispatch signalsto haul vehicles 16-19. Referring to FIG. 3, dispatch facility 21 mayinclude a communication device 27 configured to exchange informationwith cold planer 10 and haul vehicles 16-19, a locating device 28configured to generate a signal indicative of a plant and/or dispatchfacility location, an interface device 30 for controlling plant 20and/or dispatch operations, and a controller 32 in electroniccommunication with devices 27-30 (27-32 shown only in FIG. 3). Interfacedevice 30 may include, among other things, a display 34 and an inputdevice 36 (34-36 shown only in FIG. 3). In other embodiments, interfacedevice 30 may embody a remote control, such as a handheld controller,that may be used from anywhere on or off worksite 12. Interface device30 may alternatively embody a software program and user interface for acomputer, and may include a combination of hardware and software.

FIG. 2 illustrates an exemplary cold planer 10 having a frame 38supported by one or more traction devices 40, a milling drum 42rotationally supported under a belly of frame 38, and an engine 44mounted to frame 38 and configured to drive milling drum 42 and tractiondevices 40. Traction devices 40 may include either wheels or tracksconnected to actuators 46 that are adapted to controllably raise andlower frame 38 relative to a ground surface. It should be noted that, inthe disclosed embodiment, raising and lowering of frame 38 may alsofunction to vary a milling depth of milling drum 42 into surface 14. Insome embodiments, the same or different actuators 46 may also he used tosteer cold planer 10 and or to adjust a travel speed of traction devices40 (e.g., to speed up or brake traction devices 40), if desired. Aconveyor system 48 may be pivotally connected at a leading end to frame38 and configured to transport material away from milling drum 42 andinto a receptacle, such as haul vehicle 16 (referring to FIG. 1).

Frame 38 may also support an operator station 50. Operator station 50may house any number of interface devices 52 used to control cold planer10. In the disclosed example, interface devices 52 may include, amongother things, a display 54 and an input device 56 (54-56 shown only inFIG. 3). In other embodiments, operator station 50 may he offboard coldplaner 10. For example, operator station 50 may embody a remote control,such as a handheld controller, that an operator may use to control coldplaner 10 from anywhere on worksite 12. Operator station 50 mayalternatively embody a software program and user interface for acomputer, and may include a combination of hardware and software. Inother embodiments, cold planer 10 may be autonomous and may not includeoperator station 50.

Display 54 may be configured to render the location of cold planer 10(e.g., of milling drum 42) relative to features of the jobsite (e.g.,milled and/or unmilled parts of surface 14), and to display data and/orother information to the operator. Input device 56 may be configured toreceive data and/or control instructions from the operator of coldplaner 10. Other interface devices (e.g., control devices) may also bepossible, and one or more of the interface devices described above couldbe combined into a single interface device, if desired.

Input device 56 may be, for example, an analog input device thatreceives control instructions via one or more buttons, switches, dials,levers, etc. Input device 56 may also or alternatively include digitalcomponents, such as one or more soil keys, touch screens, and/or visualdisplays. input device 56 may be configured to generate one or moresignals indicative of various parameters associated with cold planer 10and/or its surrounding environment based on input received from theoperator. For example, input device 56 may be configured to receiveinputs indicative of milled material density p, a material ID (i.e., atype of material being milled), and parameters of haul vehicle 16 (e.g.,dimensions, volume capacity, weight capacity, legal weight limit etc.).Input device 56 may also be configured to allow the operator to indicatewhen a receptacle is empty or full, for example, by pressing a buttonassociated with input device 56. The information received via inputdevice 56 may be sent to and/or stored in a controller 57 (referring toFIG. 3) and used for further processing.

Conveyor system 48 may include a first conveyor 58 adjacent milling drum42 that is configured to transfer milled material to a second conveyor60. Conveyors 58 and 60 may each include a belt 62 that is supported ona plurality of roller assemblies 64 and driven by a motor 66. Motor 66may embody, for example, a hydraulic motor 66 powered by a hydraulicsystem (not shown). In other embodiments, motor 66 may be an electricmotor or another type of motor. Motor 66 may be powered by engine 44 orby another power source.

As illustrated in FIG. 3, a material transport management system 68(“management system”) may be associated with cold planer 10 and includeelements that cooperate to monitor and analyze material transfer intohaul vehicle 16 and facilitate communication between cold planer 10 andplant 20. Management system 68 may facilitate the communication of datafrom cold planer 10 to plant 20 regarding operating parameters of coldplaner 10 and/or milled material transferred into haul vehicles 16-19.Based on the data, dispatch signals may be generated and communicated tohaul vehicles 16-19 from plant 2.0 in order to facilitate the timelyarrival of haul vehicles 16-19 to worksite 12, as well as to provideinstructions for transporting milled material away from worksite 12.

Elements of management system 68 may cooperate to generate dataregarding cold planer 10 and the transference of material into haulvehicles 16-19 and communicate the data to plant 20. For example,management system 68 may determine a location of cold planer 10, a rateof material transfer Δ (e.g., a mass flow rate {dot over (m)} and/or avolume flow rate {dot over (V)}, weight per unit of time, a number ofhaul vehicles per unit time, etc.), a total weight W_(m) )“weight”) ofmilled material that has been transferred, a fill level Σ of haulvehicle 16, an amount of remaining time T_(F) until haul vehicle 16 isfull, and/or other statistical information that may be used by plant 20to determine when to dispatch haul vehicles 16-19. Elements ofmanagement system 68 may include interface devices 52, one or moresensors 70, a locating device 72, a communication device 74, andcontroller 57 electronically connected with each of the other elements.Information, including the rate of material transfer Δ, the weightW_(m), the fill level Σ, the remaining time T_(F), and the location ofcold planer 10 may be shown to the operator of cold planer 10 viadisplay 54 and/or transmitted to plant 20 via communication device 74for further processing.

Sensors 70 may include one or more sensors and/or systems of sensorsconfigured to generate a signal indicative of cold planer operatingparameters and/or the rate of material transfer into haul vehicle 16 viaconveyor system 48. In one embodiment, for example, sensors 70 mayinclude a belt scale and belt speed sensor configured to generatesignals that may be used to determine how much material is on conveyorsystem 48 and at what rate Δ the material is being transferred into haulvehicle 16. In another embodiment, sensors 70 may generate signalsindicative of a power and speed of motor 66, such as a hydraulicpressure sensor and a motor speed sensor. Sensors 70 may alternativelyinclude an electrical voltage sensor or another type of sensorconfigured to measure the power output of motor 66. The signalsgenerated by sensors 70 may be utilized by controller 57 in conjunctionwith other sensed or known parameters (e.g., belt speed, conveyorincline, hydraulic fluid flow rate, motor speed, motor displacement,electrical resistance, electrical current, etc.) to determine the rateof material transfer Δ into haul vehicle 16.

Sensors 70 may alternatively embody other types of sensors that areconfigured to determine the amount of material being transferred byconveyor system 48 without contacting any moving parts of conveyorsystem 48. For example, sensors 70 may include a radioactive detectionsystem, a laser scanning system, an optical scanner, a camera, and/or anultrasonic sensor that is configured to generate a signal indicative ofan amount of material (e.g., an area or volume) that has been milled andsubsequently transferred via conveyor system 48. Signals from sensors 70may be used in conjunction with additional parameters (e.g., groundspeed, belt speed, milling time, etc.) to determine a volume of materialtransferred into haul vehicle 16.

In some embodiments, management system 68 may include one or moreadditional sensors in electronic communication with controller 57. Forexample, management system 68 may include a milling drum speed sensor76, a milling drum depth sensor 78, and a ground speed sensor 80.Milling drum speed sensor 76 may be a magnetic pickup or other type ofsensor configured to generate a signal indicative of a rotational speedof milling drum 42. Milling drum depth sensor 78 may be associated withactuators 46 and configured to generate a signal indicative a height offrame 38 above surface 14, which may he used to determine the depth ofmilling drum 42 below surface 14 based on known offsets between millingdrum 42 and frame 38. Ground speed sensor 80 may be a magnetic pickup orother type of sensor associated with traction devices 40 or anotherdrive component of cold planer 10 (e.g., engine 44, a transmission,etc.). Ground speed sensor 80 may be configured to generate a signalindicative of a ground speed of cold planer 10. Signals generated bysensors 76-80 may be utilized by controller 57 in conjunction withsignals generated by sensors 70 to determine the rate of materialtransfer Δ into haul vehicle 16.

Locating device 72 may he configured to generate a signal indicative ofa geographical position of the cold planer 10 relative to a localreference point, a coordinate system associated with the work area, acoordinate system associated with Earth, or any other type of 2-D or 3-Dcoordinate system. For example, locating device 72 may embody anelectronic transponder configured to communicate with one or moresatellites, or a local radio or laser transmitting system used todetermine a relative geographical location of itself. Locating device 72may receive and analyze high-frequency, low-power radio or laser signalsfrom multiple locations to triangulate a relative 3-D geographicalposition. The signal indicative of this geographical position may becommunicated from locating device 72 to controller 57 for furtherprocessing.

Communication device 74 may include hardware and/or software thatenables sending and receiving of data messages between controller 57 andplant 20. The data messages may be sent and received via a direct datalink and/or a wireless communication link, as desired. The direct datalink may include an Ethernet connection, a connected area network (CAN),or another data link known in the art. The wireless communications mayinclude one or more of satellite, cellular, Bluetooth, WiFi, infrared,and any other type of wireless communications that enables communicationdevice 74 to exchange information.

Controller 57 may embody a single microprocessor or multiplemicroprocessors that include a means for monitoring operator and sensorinput, and responsively adjusting operational characteristics of coldplaner 10 based on the input. For example, controller 57 may include amemory, a secondary storage device, a clock, and a processor, such as acentral processing unit or any other means for accomplishing a taskconsistent with the present disclosure. Numerous commercially availablemicroprocessors can be configured to perform the functions of controller57. It should be appreciated that controller 57 could readily embody ageneral machine controller capable of controlling numerous other machinefunctions. Various other known circuits may be associated withcontroller 57, including signal-conditioning circuitry, communicationcircuitry, and other appropriate circuitry. Controller 57 may be furthercommunicatively coupled with an external computer system, instead of orin addition to including a computer system, as desired.

Controller 57 may he configured to determine the rate of materialtransfer A into haul vehicle 16, an amount of material yet to be milled,and an ID of material being transferred into haul vehicle 16 based onone or more of the data generated by sensors 70 and 76-80 and thelocation of cold planer 10. For example, controller 57 may receive thesignals from sensors 70 and determine the mass m of material on belt 62based on the signals. Using the mass in in conjunction with otherinformation received from sensors 70 and/or sensors 76-80 (e.g., beltspeed, ground speed, etc.), controller 57 may he configured to determinethe mass flow rate {dot over (m)} of material being transferred byconveyor system 48 into haul vehicle 16. Controller 57 may continuallydetermine the mass flow rate {dot over (m)} and determine the totalweight W_(m) of material transferred by multiplying the mass flow rate{dot over (m)} by an elapsed period of milling time and summing thetotal over a period of conveying time.

In embodiments where sensors 70 are configured to generate signalsindicative of an area or volume V of milled material (i.e., instead ofthe mass in), controller 57 may be configured to determine the rate ofmaterial transfer Δ into haul vehicle 16 based on the area or volume Vof material transferred. For example, controller 57 may be configured todetermine the area or volume V of material transferred based on thesignals from sensors 70, and multiply the area by a linear speed (e.g.belt speed, ground speed, etc.)or dividing the volume V by a millingtime, respectively, to determine the volume flow rate {dot over (V)}.Controller 57 may determine the total weight W_(m) of milled material bymultiplying the volume flow rate {dot over (V)} by a period of millingtime and the density ρ of the milled material, and summing the totalover a period of conveying time. The density ρ may be received bycontroller 57 from input device 56 or may be stored within its memory.

Controller 57 may he configured to determine the fill level Σ of haulvehicle 16 based on the mass flow rate {dot over (m)}, the volume flowrate {dot over (V)}, and/or the total weight W_(m) of the milledmaterial and known features of haul vehicle 16 (e.g., geometry,volumetric capacity, shape, weight capacity, etc.) received via inputdevice 56 or retrieved from its memory. In other embodiments, featuresof haul vehicle and/or other information e.g., the density ρ of milledmaterial) may be automatically received from haul vehicles 16-19 viacommunication device 74. Using this information, controller 57 may heconfigured to determine the remaining time T_(F) until haul vehicle 16is full (i.e., reaches a threshold fill level, a desired fill level, amaximum fill level, etc.). For example, controller 57 may compare themass flow rate {dot over (m)}, volume flow rate {dot over (V)}, totalweight W_(m), and/or fill level Σ to a target value over a period ofconveying time, and determine how much time remains until haul vehicle16 will become full.

Based on one or more of the rate of material transfer A, the totalweight W_(m), and the information received from locating device 72,controller 57 may be configured to determine the amount of material yetto be milled. For example, controller 57 may track the location data ofcold planer 10 during the milling operation and determine an area ofworksite 12 that has been milled based on the location data and an areayet to be milled based on known geographic information of worksite 12.Using this information and information from sensors 76-80, controller 57may determine a volume and/or a weight of material yet to be milled.Alternatively, controller 57 may determine the amount of material yet tobe milled based on a difference between known milling operation plans(e.g., a known area volume, weight, etc., to be milled) and the totalweight W_(m) and/or other information.

Controller 57 may be configured to communicate one or more of the filllevel Σ, the remaining time T_(F) until haul vehicle 16 is full, therate of material transfer Δ (e.g., volume flow rate {dot over (V)} ormass flow rate {dot over (m)}), the total weight W_(m), and/or otherinformation to plant 20 via communication device 74. Controller 57 maybe configured to show this information to the operator of plant 20 viadisplay 34 associated with plant 20 and/or communicate it to controller32 for further processing. In this way, operators of plant 20 and/orcontroller 32 may he able to monitor and control dispatching of haulvehicles 16-19 with accurate data received in real-time.

Management system 68 may also include locating device 28, interfacedevice 30, and controller 32 associated with plant 20. For example,controller 32 may be configured to receive the data from controller 57via communication device 27 for further processing. Controller 32 mayshow the data to the operator of plant 20 via display 34, therebyallowing the operator to generate dispatch signals for haul vehicles16-19 based on the data received in real-time. Controller 32 may also oralternatively generate the dispatch signals automatically based on thedata received from controller 57, thereby allowing the operator of plant20 to focus on other tasks.

For example controller 32 may receive the location of cold planer 10 andthe data via communication device 27 and determine a distance betweenplant 20 and cold planer 10 in conjunction with information receivedfrom locating device 28. The data from cold planer 10 may include theground speed of cold planer 10, a heading of cold planer 10 (e.g., acompass direction), and/or multiple location and time data points thatmay be used to determine a heading of cold planer 10. Based on thisinformation, controller 32 may be configured to determine the distancebetween cold planer 10 and plant 20, as well as a travel time of a haulvehicle traveling from plant 20 to cold planer 10 based on the distanceand heading of cold planer 10. In other embodiments, the distance andtravel time between cold planer 10 and plant 20 may be determined bycontroller 57 and received as an input by controller 32 viacommunication devices 74 and 27.

Controller 32 may also be configured to select a travel route from plant20 to cold planer 10 based on information received from locating device28 in conjunction with one or more of the data received from cold planer10, the distance from plant 20 to cold planer 10, and the travel time.For example, controller 32 may select a route that ensures the traveltime is within a desired limit or threshold, such as the remaining timeT_(F) until haul vehicle 16 is full. Other time thresholds may be used,if desired. Controller 32 may be configured to determine the desiredtravel route based also on known geographical, terrain, and roadinformation that is stored within its memory, associated with locatingdevice 28 (e.g., stored within a memory of locating device 28), orreceived via communication device 27.

Controller 32 may also be configured to track a number of haul vehicles16-19 currently located at worksite 12 and determine a desired number ofhaul vehicles 16-19 to he located at worksite 12 in order to ensure acontinuous workflow. For example, controller 32 may track the locationof each haul vehicle 16-19 based on signals generated by locatingdevices 24 associated with each haul vehicle 16-19, and determine thenumber of vehicles currently located at worksite 12 based on the signalsand the known location of worksite 12. Based on the rate of materialtransfer Δ received from cold planer 10, controller 32 may determine arate at which milled material is hauled away from worksite 12, anddetermine a rate at which empty trucks (e.g., having known weight and/orvolume capacities) should he delivered to worksite 12 in order toaccommodate the rate of material transfer Δ. Based on the travel time ofhaul vehicles 16-19 from plant 20 to cold planer 10 and the rate ofmaterial transfer Δ, controller 32 may determine a desired number ofhaul vehicles 16-19 to be located at worksite 12 in the standby positionat any given time. When the number of haul vehicles 16-19 currentlylocated at worksite 12 is less than the desired number of haul vehicles16-19, controller 32 may determine that additional haul vehicles 16-19should he sent to worksite 12 and dispatch additional haul vehicles16-19. In this way, operation of cold planer 10 may be continuous duringa shift and may not have to be paused to wait for empty haul vehicles16-19.

When controller 32 determines that additional haul vehicles 16-19 shouldbe sent to worksite 12, controller 32 may generate a first dispatchsignal indicative of a request for one or more empty haul vehicles 16-19to travel to cold planer 10 at worksite 12. Controller 32 may direct thefirst dispatch signal to a particular one or more of haul vehicles 16-19via communication device 27, and the dispatch signal may include one ormore of the location of cold planer 10, the desired travel route, thedistance to cold planer 10, and the travel time. The dispatch signal mayinclude other data and/or instructions, if desired.

When, for example, haul vehicle 16 is full and departs cold planer 10 toreturn to plant 20, controller 32 may be configured to generate a seconddispatch signal based on data received from cold planer 10 and/or otherinformation. For example, controller 32 may receive the material IDassociated with the milled material loaded into haul vehicle 16 fromcold planer 10, and determine a location to deliver the milled materialbased on the material ID. When plant 20 has available space to receivematerial having the ID associated with the milled material in haulvehicle 16, controller 32 may direct haul vehicle 16 via the seconddispatch signal to return to plant 20. In some embodiments, controller32 may direct haul vehicle 16 to a particular location within plant 20based on the associated material ID.

In other situations, however, controller 32 may determine that plant 20cannot receive additional material having the associated ID and directhaul vehicle 16 to an alternate location via the second dispatch signal.For example, controller 32 may determine that plant 20 cannot receiveadditional material based on known stock quantities, the total weightW_(m) of milled material having the associated ID, a number of full haulvehicles 16-19 in transit, the rate of material transfer A, etc. Inthese situations, the second dispatch signal may include detailsregarding the alternate location (e.g., the grid location, a travelroute, a travel time, etc.). It should be noted that first and seconddispatch signals may be generated manually by the operator of plant 20.

INDUSTRIAL APPLICABILITY

The disclosed management system may be used with any cold planer whereachieving continuous milling operations by reducing waiting time fortransport vehicles is important. The disclosed management system maydetermine the rate material transfer into a haul vehicle and thelocation of the cold planer, and communicate this information to adispatch facility associated with a plant where dispatch signals forhaul vehicles may be manually or automatically generated. A controllerassociated the plant may generate dispatch signals based on datareceived from the cold planer in order to ensure the timely arrival of adesired number of haul vehicles to support continuous milling operationsof the cold planer. The controller associated with the plant maydetermine the distance and travel time between the plant and the coldplaner and the number of desired haul vehicles, and generate dispatchsignals based on this information. A controller associated with the coldplaner may determine a material ID associated with the materialtransferred into the haul vehicle and communicate the material ID to theplant. The plant may generate dispatch signals indicative of a locationfor the haul vehicle to deliver the milled material based on thematerial ID. Operation of management system 68 will now be explained.

During operation of cold planer 10, material from surface 14 may beremoved by milling drum 42 as cold planer 10 is propelled across surface14 by traction devices 40. The milled material may be loaded into haulvehicle 16 by conveyor system 48 while empty haul vehicle 18 waits in astandby position. Haul vehicle 19 may initially be located at plant 20or another location awaiting a dispatch signal from dispatch facility21.

As milled material is loaded into haul vehicle 16, controller 57 of coldplaner 10 may generate data regarding at least one of cold planeroperating parameters and milled material transferred from cold planer 10to haul vehicle 16. For example, controller may receive signals fromsensors 70 indicative of an amount of milled material on conveyor system48 and/or being transferred into haul vehicle 16. Controller 57 may alsoor alternatively receive signals from one or more of sensors 76-80indicative of the speed of milling drum 42, the depth of milling drum42, and the ground speed of cold planer 10. Based on the signals fromone or more of sensors 70 and 76-80, controller 57 may determine therate of material transfer Δ (e.g., the mass flow rate m, the volume flowrate {dot over (V)}, etc.) into haul vehicle 16. Based on the materialtransfer rate, controller 57 may then determine additional data, such asthe total weight W_(m) of milled material, the fill level Σ of haulvehicle 16, and the remaining time T_(F) until haul vehicle 16 is full.

Controller 57 may also generate cold planer location data during themilling operation based on signals received from locating device 72. Thelocation data may include geographic position of cold planer 10 and/orthe heading of cold planer 10, which may be used to generate furtherdata. For example, controller 57 may determine a material ID of themilled material being transferred into haul vehicle 16 based on thelocation of cold planer 10. Known locations of different material typesmay be stored within the memory of controller 57 or received bycontroller 57 via locating device 72 and/or communication device 74.Controller 57 may associate the material ID with the milled materialbased on this information.

Controller 57 may also determine an amount of material yet to be milledbased on the location data and/or information received from sensors 70and 76-80. For example, controller 57 may track the position cold planer10 during the milling operation based on the signals from locatingdevice 72 and determine an area of worksite 12 that has been alreadymilled. Based on known geographic information of worksite 12, controller57 may then compare the milled area and the known information ofworksite 12 to determine a difference between them as the area yet to bemilled. Alternatively, controller 57 may continually determine and trackhow much material has been milled, such as the total weight W_(m) ofmilled material, and compare that amount to known milling operationparameters (e.g., a targeted weight, volume, mass, etc.).

Controller 57 may then communicate the generated data to plant 20 viacommunication devices 74 and 27. Once the data is received viacommunication device 27, operators of plant 20 and/or controller 32 ofplant 20 may analyze the data and generate dispatch signals (e.g., firstand second dispatch signals) to haul vehicles 16-19. In one example, anoperator of plant 20 may view the data in real-time via display 34 anddetermine when to send additional haul vehicles to worksite 12. Theoperator may also view the data and determine when to send dispatchsignals to, for example, haul vehicle 16 as it returns to plant 20 fromcold planer 10.

In another example, controller 32 may receive the data from cold planer10 via communication device 27 and automatically generate dispatchsignals to haul vehicles 16-19 based on the data. For example,controller 32 may receive the rate of material transfer A from coldplaner 10 and determine a rate at which material is being hauled awayfrom worksite 12 (e.g., a number of haul vehicles per unit time, anamount of material per unit time, etc.). Controller 32 may alsodetermine a distance and travel time between plant 20 and cold planer 10based on the location data received from cold planer 10. Based on thisinformation, controller 32 may be able to determine how quickly materialis being hauled away from worksite 12 and how quickly replacement haulvehicles should be sent to worksite 12 to allow for a continuous millingoperation.

For example, controller 32 may determine when to send additional haulvehicles to worksite 12 in order to accommodate the rate at which milledmaterial is being hauled away from worksite 12. That is, as a quantityof material is hauled away or as each or a number of haul vehiclesleaves worksite 12, controller 32 may send empty haul vehicles toreplace the full haul vehicle(s so the total number of haul vehicles atworksite 12 remains within a constant or desired range. in somecircumstances, controller 32 may determine the travel time from plant 20to cold planer 10 in order to ensure, for example, haul vehicle 19 canarrive at worksite 12 before the remaining time T_(F) until haul vehicle16 is full will expire. As cold planer 10 traverses surface 14 or movesto different locations at worksite 12, the distance between cold planer10 and plant 20 may continually change. Thus, controller 32 maycontinually determine the distance and travel time to ensure the timelyarrival of haul vehicles 16-19 and to minimize the amount of time thatcold planer 10 must wait for an empty haul vehicle to arrive.

Based on the distance and travel time, controller 32 may then select atravel route between plant 20 and cold planer 10 that will allow a haulvehicle to arrive at cold planer 10 within the desired time limit. Basedon the location information received from cold planer 10 and informationreceived via locating device 28 and/or communication device 27,controller may select the travel route. Information received fromlocating device 28 and/or communication device may include knowngeographic and road information, as well as current traffic details(e.g., congested areas, closed roads, posted detours, restricted areas,etc.). Such information may also or alternatively be stored within thememory of controller 32 and accessed when determining the desired travelroute. in this way, pauses in the milling operation caused by trafficdelays may be avoided.

Controller 32 may receive a location signal from each of haul vehicles16-19 and track their positions during the milling operation. Based onthe location signals, controller 32 may determine how many haul vehiclesare at worksite 12 and at plant 20 (and in transit) at any given time.Based on the data from cold planer 10 (e.g., one or more of the materialtransfer rate Δ, the remaining time T_(F) until haul vehicle 16 is full,the distance and travel time between plant 20 and cold planer 10, and/orthe heading of cold planer 10), controller 32 may determine a desirednumber of haul vehicles to he located at worksite 12 in order to allowfor a continuous milling operation, and compare the desired number tothe number of haul vehicles currently located at worksite 12. When thedesired number is greater than the current number, controller 32 mayincrease the rate at which empty haul vehicles are dispatched toworksite 12. When the desired number is less than the current number,controller 32 may reduce the rate at which haul vehicles are dispatchedto worksite 12 and, at times, may recall one or more haul vehicles toplant 20.

Based on the data received from cold planer 10 (e.g., the materialtransfer rate, the amount of material yet to be milled, and the coldplaner location) and other information determined by controller 32(e.g., travel distance and time between plant 20 and cold planer 10, thedesire travel route, desired number of haul vehicles, the rate at whichto dispatch more haul vehicle etc.), controller 32 may automaticallygenerate first dispatch signals indicative of a request for one or moreof haul vehicles 16-19 to travel to cold planer 10. In this way,operators of plant 2.0 may be allowed to focus on additional or othertasks while first dispatch signals are generated based on real-time datareceived from cold planer 10.

When one or more of haul vehicles 16-19 become full and is returning toplant 20, controller 32 may then generate second dispatch signalsindicative of a location for haul vehicles 16-19 to deliver milledmaterial received from cold planer 10. For example, controller 32 maygenerate the second dispatch signals based on the material ID associatedwith the milled material removed by cold planer 10. The material ID maybe indicative of the type of material removed from surface 14, and mayalso correspond to a specified storage location at plant 20. In thisway, operators and controller 32 of plant 20 may not have to wait forhaul vehicles 16-19 to return to plant 20 before deciding where to storethe milled material. Determining where to send the returning haulvehicle while it is still in transit may allow the haul vehicle totravel directly to that location instead of requiring the material to beinspected or otherwise checked. This may reduce time and effort spent:by operators in determining the contents of each haul vehicle 16-19 anddeciding where to store the material. Also, when plant 20 is no longercapable of storing additional material having a particular ID, thesecond dispatch signal may be sent while haul vehicles 16-19 are stillin transit, allowing them to proceed to an alternate location, asdesired.

Several advantages may be associated with the disclosed managementsystem. For example, because controller 57 may generate data regardingoperation of cold planer 10 and the milled material, this informationmay be communicated to plant 20 in real-time for use by operators andcontroller 32 in generating dispatch signals to haul vehicles 16-19.Because the data may include material transfer rate and locationinformation, controller 32 may be able to generate dispatch signals toensure the desired number of haul vehicles are present near cold planer10 at worksite 12, and pauses in the milling operation may be avoided orminimized. Also, because controller 57 may determine and communicate thematerial ID to plant 20, dispatch signals may be generate to haulvehicles returning to plant 20 instructing them of an available locationto receive the milled material, thereby reducing confusion and wastedtravel time. Further, since controller 32 may automatically generate thedispatch signals, the operators of plant 20 may be able to efficientlyfocus on more or other tasks.

It will be apparent to those skilled in the art that variousmodifications and variations can be made to the disclosed managementsystem without departing from the scope of the disclosure. Otherembodiments of the management system will be apparent to those skilledin the art from consideration of the specification and practice of themanagement system disclosed herein. It is intended that thespecification and examples be considered as exemplary only, with a truescope of the disclosure being indicated by the following claims andtheir equivalents.

What is claimed is:
 1. A management system for a cold planer and aplurality of haul vehicles configured to transport milled material fromthe cold planer to a plant, the management system comprising: one ormore sensors located onboard the cold planer and configured to generatedata. regarding at least one of cold planer operating parameters andmilled material transferred from the cold planer to the plurality ofhaul vehicles; a locating device configured to generate a signalindicative of a cold planer location; a communication device configuredto transfer information from the cold planer to the plant; and acontroller in electronic communication with the one or more sensors andthe locating device and configured to: determine a rate of materialtransfer from the cold planer to the plurality of haul vehicles based onthe data; transmit the rate of material transfer and the cold planerlocation to the plant via the communication device; determine a materialID associated with the rate of material transfer based on the coldplaner location; and transmit the material ID to the plant via thecommunication device. The management system of claim 1, wherein the rateof material transfer is one or more of a volume per unit of time, aweight per unit of time, and a number of haul vehicles per unit time. 3.The management system of claim 1, wherein the controller is configuredto: determine an amount of material yet to be milled based on one ormore of the data and the cold planer location; and transmit the amountof material to be milled to the plant via the communication device. 4.The management system of claim 1, wherein: the plant includes a displayin electronic communication with the controller of the cold planer viathe communication device; and the controller of the cold planer isconfigured to show one or more of the rate of material transfer, thematerial ID, an amount of material yet to be milled, and the cold planerlocation to an operator of the plant via the display.
 5. The managementsystem of claim 1, wherein the plant includes a controller in electroniccommunication with the controller of the cold planer via thecommunication device, the controller of the plant being configured togenerate dispatch signals based on one or more of the data received fromthe cold planer and the cold planer location.
 6. The management systemof claim 5, wherein the controller of the plant is configured togenerate a first dispatch signal indicative of a request for one or moreof the plurality of haul vehicles to travel to the cold planer.
 7. Themanagement system of claim 6, wherein the controller of the plant isconfigured to determine the first dispatch signal based on one or moreof the rate of material transfer, the amount of material yet to bemilled, and the cold planer location.
 8. The management system of claim7, wherein the controller of the plant is configured to generate asecond dispatch signal indicative of a location for one or more of theplurality of haul vehicles to deliver milled material received from thecold planer.
 9. The management system of claim 9, wherein the controllerof the plant is configured to generate the second dispatch signal basedon the material ID.
 10. A management system for a cold planer and aplurality of haul vehicles configured to transport milled material fromthe cold planer to a plant, the management system comprising: one ormore sensors located onboard the cold planer and configured to generatedata regarding at least one of cold planer operating parameters andmilled material transferred from the cold planer to the plurality ofhaul vehicles; a locating device configured to generate a signalindicative of a cold planer location; a communication device configuredto transfer information from the cold planer to the plant; and acontroller in electronic communication with the one or more sensors andthe locating device and configured to: determine a rate of materialtransfer from the cold planer to the plurality of haul vehicles based onthe data; transmit the rate of material transfer and the cold planerlocation to the plant via the communication device; and a secondcontroller of the plant in communication with the controller of the coldplaner via. the communication device, wherein the controller of theplant is configured to determine a first dispatch signal based on one ormore of the rate of material transfer, a calculated amount of materialyet to be milled, and the cold planer location.
 11. The managementsystem of claim 10, wherein first dispatch signal is indicative of arequest for one or more of the plurality of haul vehicles to travel tothe cold planer.
 12. The management system of claim 10, wherein thesecond controller of the plant is configured to generate a seconddispatch signal indicative of a location for one or more of theplurality of haul vehicles to deliver milled material received from thecold planer.
 13. The management system of claim 12., wherein the secondcontroller of the plant is configured to generate the second dispatchsignal based the rate of material transfer and based on the cold planerlocation.
 14. A management system for a cold planer and a plurality ofhaul vehicles configured to transport milled material from the coldplaner to a plant, the management system comprising: one or more sensorslocated onboard the cold planer and configured to generate dataregarding at least one of cold planer operating parameters and milledmaterial transferred from the cold planer to the plurality of haulvehicles; a locating device configured to generate a signal indicativeof a cold planer location; a communication device configured to transferinformation from the cold planer to the plant; and a controller inelectronic communication with the one or more sensors and the locatingdevice and configured to: determine a rate of material transfer from thecold planer to the plurality of haul vehicles based on the data;transmit the rate of material transfer and the cold planer location tothe plant via the communication device; a second controller of the plantin communication with the controller of the cold planer via thecommunication device, wherein the controller of the plant is configuredto generate dispatch signals based on one or more of the data receivedfrom the cold planer, the cold planer location, and wherein the dispatchsignals include a first dispatch signal indicative of a request for oneor more of the plurality of haul vehicles to travel to the cold planer.15. The management system of claim 14, wherein the controller of theplant is configured to determine the first dispatch signal based on oneor more of the rate of material transfer, an amount of material yet tobe milled, and the cold planer location.
 16. The management system ofclaim 15, wherein the controller of the plant is configured to generatea second dispatch signal indicative of a location for one or more of theplurality of haul vehicles to deliver milled material received from thecold planer.
 17. The management system of claim 16, wherein thecontroller of the plant is configured to generate the second dispatchsignal based on the rate of material transfer and based on the coldplaner location.